Hierarchical Coordinated Control for Extreme Motion of Full-Vector Wire-Controlled Vehicles
The four-wheel independent drive-steering(4WID-4WIS)chassis architecture for full-vector wire-controlled vehicles features multiple controllable degrees of freedom and superior stability at high speeds,which is an ideal solution to improve stability margin under extreme conditions and ensure driving safety.To address the issue of driving safety concerns arising from control conflicts under such conditions,a hierarchical coordinated control method for both longitudinal and lateral vehicle motions was proposed based on model predictive control(MPC).An expected motion state recognition method based on the single-track model was established,and the model prediction controller was designed to transform the dynamic target.The prediction model was linearized and discretized using Taylor expansion and the forward Euler method.Then the optimal tire force distribution method based on load rate was designed and the arctangent tire inverse model was used to solve the control execution values.The simulation results show that the proposed coordinated control method significantly improves the vehicle's extreme motion stability under different road conditions.It achieves more accurate tracking of the expected motion state,expands the stability margin,and ensures driving safety.
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